Controlling the Interactive Behavior of a Robot
First Claim
1. A method for controlling behavior of an intelligent mechanical system having more than one degree of freedom, the method comprising:
- (a) providing a target to a selector unit that requires operation of actuators of the mechanical system;
(b) generating by a selector unit more than one behavior commands adapted to reach the target;
(c) simulating movements of the mechanical system for each behavior command by a computing unit of the mechanical system;
(d) assessing fitness values for each simulated movements based on at least one objective; and
(e) sending the behavior commands with a highest fitness value to the actuators of the mechanical system.
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Abstract
A method for controlling behavior of an intelligent mechanical system having more than one degree of freedom, the method comprising: (a) providing a target to a selector unit that requires operation of actuators of the mechanical system; (b) generating by a selector unit more than one behavior commands adapted to reach the target; (c) simulating movements of the mechanical system for each behavior command by a computing unit of the mechanical system; (d) assessing fitness values for each simulated movements based on at least one objective; and (e) sending the behavior commands with a highest fitness value to the actuators of the mechanical system.
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Citations
12 Claims
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1. A method for controlling behavior of an intelligent mechanical system having more than one degree of freedom, the method comprising:
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(a) providing a target to a selector unit that requires operation of actuators of the mechanical system;
(b) generating by a selector unit more than one behavior commands adapted to reach the target;
(c) simulating movements of the mechanical system for each behavior command by a computing unit of the mechanical system;
(d) assessing fitness values for each simulated movements based on at least one objective; and
(e) sending the behavior commands with a highest fitness value to the actuators of the mechanical system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A controller for controlling behavior of an intelligent mechanical system having more than one degree of freedom, the controller configured to:
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(a) provide a target to a selector unit that requires operation of actuators of the mechanical system;
(b) generate by a selector unit more than one behavior commands adapted to reach the target;
(c) simulate movements of the mechanical system for each behavior command by a computing unit of the mechanical system;
(d) assess fitness values for each simulated movements based on at least one objective; and
(e) send the behavior commands with a highest fitness value to the actuators of the mechanical system.
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11. A robot comprising a controller adapted to:
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(a) provide a target to a selector unit that requires operation of actuators of the mechanical system;
(b) generate by a selector unit more than one behavior commands adapted to reach the target;
(c) simulate movements of the mechanical system for each behavior command by a computing unit of the mechanical system;
(d) assess fitness values for each simulated movements based on at least one objective; and
(e) send the behavior commands with a highest fitness value to the actuators of the mechanical system.
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12. A computer readable storage medium structured to store instructions executable by a processing system, the instructions when executed cause the processing system to:
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(a) provide a target to a selector unit that requires operation of actuators of the mechanical system;
(b) generate by a selector unit more than one behavior commands adapted to reach the target;
(c) simulate movements of the mechanical system for each behavior command by a computing unit of the mechanical system;
(d) assess fitness values for each simulated movements based on at least one objective; and
(e) send the behavior commands with a highest fitness value to the actuators of the mechanical system.
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Specification